Fixed point stablization device for legged mobile body

ABSTRACT

The present invention provides a fixed point stabilization device for a legged mobile body having a generating mechanism for generating a fixed point. The present invention also provides a fixed point stabilization device for a legged mobile body comprising stabilizing means for stabilizing the fixed point in accordance with a leg grounding position of the legged mobile body. The fixed point is generated by inputting a predetermined constant torque to a joint of a leg of the legged mobile body on the basis of the energy balance in the legged mobile body, leg switching, and a leg swinging motion. The fixed point is stabilized globally by keeping the leg grounding position of the legged mobile body constant using a stopper. Further, the fixed point is stabilized locally by varying the leg grounding position of the legged mobile body in accordance with a deviation between the fixed point and a current quantity of state.

TECHNICAL FIELD

The present application claims priority on the basis of Japanese PatentApplication No. 2005-168905, filed on Jun. 8, 2005, the entire contentsof which are hereby incorporated in this specification by reference.

The present invention relates to a fixed point stabilization device fora legged mobile body.

BACKGROUND ART

Patent Document 1 and so on are known as examples of attitudestabilization control for a legged mobile robot, in particular a bipedalwalking legged mobile robot employing Zero Moment Point (ZMP). Further,Non-Patent Document 1 provides detail with respect to stabilization ofthe fixed point of a legged mobile body, in particular a passive walker.

Conventional legged mobile robots stand at the forefront of technologiesincluding high-precision sensors, high-performance actuators, andadvanced control. The keystone of the technologies is ZMP. A walkingcontrol method employing ZMP focuses on trajectory planning and control(including measurement) of ZMP.

Meanwhile, the gait known as passive walking, cannot be ignored, andalways generates a great deal of interest in terms of the possibility ofengineering applications. A feature of passive dynamic walking is that anatural gait can be produced by the interaction between the dynamics ofthe legged mobile body and the environment (a downward slope) with nocontrol whatsoever.

Patent Document 1: Japanese Patent No. 3269852

Non-Patent Document 1: T. McGeer, “Passive Dynamic Walking”, The Int. J.of Robotics Research, vol. 9, no. 2, pp. 62-82, 1990

DISCLOSURE OF THE INVENTION

ZMP is an important mechanical index relating to attitude stabilizationnot only during walking, and is the most powerful tool for enablingwalking without falling. However, with attitude stabilization controlemploying ZMP, it is difficult in principle to realize a highlyenergy-efficient gait. Moreover, the resulting gait feels unnaturalcompared to passive walking.

In passive walking, the solution of a nonlinear leg swinging motionjumps discontinuously due to the leg switching phenomenon. A cyclictrajectory is generated from this type of hybrid system. When thetrajectory forms a limit cycle, the state immediately after grounding isfixed as the fixed point. With conventional passive walking, however, astable fixed point does not exist when walking uphill and along levelground, and therefore a steady gait cannot be achieved. Moreover, therobustness of passive walking is low, and stable continuous walking isdifficult. Furthermore, convergence on the fixed point is poor.

It is therefore an object of the present invention to provide a fixedpoint stabilization device for a legged mobile body having a generatingmechanism for generating a fixed point. Another object of the presentinvention is to provide a fixed point stabilization device for a leggedmobile body comprising stabilizing means for stabilizing the fixed pointgenerated by the generating mechanism in accordance with a leg groundingposition of the legged mobile body.

A fixed point stabilization device for a legged mobile body according tothe present invention has a generating mechanism for generating a fixedpoint, and is characterized in comprising stabilizing means forstabilizing the fixed point generated by the generating mechanism inaccordance with a leg grounding position of the legged mobile body.

In the fixed point stabilization device for a legged mobile bodyaccording to the present invention, the generating mechanism preferablygenerates the fixed point from an energy balance in the legged mobilebody, leg switching, and a leg swinging motion.

The generating mechanism preferably generates the fixed point byinputting a constant torque to a joint of a leg of the legged mobilebody.

Further, in the fixed point stabilization device for a legged mobilebody according to the present invention, the stabilizing meanspreferably stabilize the fixed point globally by keeping the leggrounding position of the legged mobile body constant or substantiallyconstant. At this time, the stabilizing means are preferably a stopper.

Furthermore, the stabilizing means preferably stabilize the fixed pointlocally by varying the leg grounding position of the legged mobile bodyin accordance with a deviation between the fixed point and a currentquantity of state.

According to the present invention, a fixed point can be generated, onlevel ground or uphill, simply by inputting a constant torque at eachstep period based on a mechanical structure of a fixed point formed froman energy balance, leg switching, and a leg swinging motion. As aresult, a natural and highly energy-efficient gait can be realized.

By keeping the grounding position of the leg constant or substantiallyconstant, the fixed point can be stabilized globally, enabling extremelystable continuous walking. Moreover, robustness increases dramatically.

Finite settling is performed through local stabilization of the fixedpoint, and as a result, the fixed point converges to a substantiallysteady state in a few steps.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic view showing a legged mobile body having a kneejoint;

FIG. 2 is a view showing the results of a walking simulation; and

FIG. 3 is a schematic view showing the entirety of a legged mobile bodyemploying the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

A preferred embodiment of a fixed point stabilization device for alegged mobile body according to the present invention will be describedbelow.

A generating mechanism for generating a fixed point, which is providedin the fixed point stabilization device for a legged mobile bodyaccording to the present invention, is capable of calculating a fixedpoint directly, without searching for a fixed point numerically, fromthe energy balance in the legged mobile body, leg switching, and a legswinging motion. Hence, by varying the energy balance and the legswitching and leg swinging motions, a fixed point can be created asdesired. For example, a fixed point is preferably calculated from anenergy balance formula, a leg switching formula, and a leg swingingformula, whereupon a fixed torque required to generate the fixed pointis generated in the joints of the legged mobile body.

In the fixed point stabilization device for a legged mobile bodyaccording to the present invention, the most important feature of thestabilizing means is to keep the leg grounding position of the leggedmobile body constant or substantially constant in order to stabilize thefixed point globally. Keeping the leg grounding position constant orsubstantially constant is preferably realized actively by a servomechanism employing an actuator, or more preferably realized passivelyemploying a passive element. Attaching a stopper to the legged mobilebody, for example, is simple and reliable.

Further, by varying the leg grounding position of the legged mobile bodyin accordance with a deviation between the fixed point and the currentquantity of state, the fixed point is stabilized locally. The quantityof state is preferably taken as the state immediately before orimmediately after grounding, and the leg is grounded in a groundingposition that has been varied according to the deviation from the fixedpoint, preferably such that local (in the vicinity of the fixed point)stability in a discrete time system reaches a maximum.

EMBODIMENT First Embodiment

FIG. 1 schematically shows a legged mobile body having a knee joint.First, fixed point generation and local stabilization on level ground(γ=0 [rad]) will be described. In FIG. 1, l=0.7 [m], l₁=l₂=0.35 [m],a₁=b₁=a₂=b₂=0.35 [m], and p=m₂/m₁=0.4. The fixed point of the passivedynamic walking class corresponding to a slope angle of γ=0.073 [rad] isderived from a legged mobile body energy balance formula, a legswitching formula, and a leg swinging motion formula. The quantity ofstate at this time corresponds to an inter-leg angle α_(f)=0.73750 [rad]immediately after grounding and the angular velocity of a stance leg(d←/dt)|_(f) ⁺=1.35140 [rad/s]. Note that in this embodiment, the kneejoint of a swing leg is fixed at the point where the swing leg becomesstraight and the knee joint of the stance leg extends straight, andtherefore the inter-leg angle immediately after grounding is consideredequivalent to the grounding position of the leg.

Joint torque vectors τ_(K), τ_(C) required to generate the fixed pointare calculated from Formula 1 and Formula 2 and obtained as follows,

τ_(K)=[0.50078, −0.275429, −0.125195][Nm/kgm²]

τ_(C)=[0.50078, −0.275429][Nm/kgm²]

Until the knee joint of the swing leg is fixed, τ_(K) is input, andafter the knee joint is fixed, τ_(C) is input.

A coefficient is calculated from the inter-leg angle α_(f) at the fixedpoint, the angular velocity of the stance leg (dθ/dt)|_(f) ⁺, andFormulae 3, 4 and 5, and obtained as follows,

a_(f)=0.002 [l/s], b_(f)=−0.8156 [l/s], c_(f)=0.5478

Then, a rate of change in the inter-leg angle at the time of groundingas finite setting is calculated from Formulae 6 and 7, and obtained asfollows,

(δα_(k+1)/δα_(k))|_(f)=0.54861, (δα_(k+1)/δ((dθ/dt)|⁺))|_(f)=0.36845 [s]

Finally, when setting is performed to obtain the numerical value of(δα_(k+1)/δα_(k))|_(f), (δα_(k+1)/δ((dθ/dt)|⁺))|_(f) at which thecoefficient of Formula 8 is obtained,

K_(α)=1.7582, K_((dθ/dt))=−1.4508

By controlling the leg grounding position (the inter-leg angle at thetime of grounding) using Formula 8 in the vicinity of the fixed point,the fixed point can be locally stabilized.

FIG. 2 shows the results of a walking simulation. The abscissa andordinate respectively show the number of steps and the inter-leg angleat the time of grounding. As is evident from the drawing, a fixed point(gait) is generated even on level ground and converges to asubstantially steady state after three steps.

FIG. 3 is a schematic view showing the legged mobile body employing thisembodiment. A simple stopper such as that shown in FIG. 3 is attached inorder to fix the leg grounding position (the inter-leg angle at the timeof grounding) of the legged mobile body. Note that the stopper is notlimited to this example. When the leg grounding position is not fixed(the stopper is not provided), continuous downhill walking for fivepaces or more is impossible. When the grounding position is fixed, onthe other hand, continuous downhill walking for nine paces (the maximumnumber of possible steps) is achieved with a success rate ofapproximately 70 [%]. Note that the experiment was conducted 350 times.

$\begin{matrix}{\mspace{79mu} {\tau_{\kappa} = {\begin{bmatrix}\tau_{1f} \\\tau_{2f} \\\tau_{3f}\end{bmatrix} = {\begin{bmatrix}{u_{1}\text{/}M} \\{u_{2}\text{/}m_{1}} \\{u_{3}\text{/}m_{2}}\end{bmatrix} = {\begin{bmatrix}{l\left( {\gamma^{\prime} - \gamma} \right)} \\{{- \left( {b_{1} + {pl}_{1} + {pb}_{2}} \right)}\left( {\gamma^{\prime} - \gamma} \right)} \\{- {b_{2}\left( {\gamma^{\prime} - \gamma} \right)}}\end{bmatrix}g}}}}} & {{Formula}\mspace{14mu} 1} \\{\mspace{79mu} {\tau_{C} = {\begin{bmatrix}\tau_{1f} \\\tau_{2f}\end{bmatrix} = {\begin{bmatrix}{u_{1}\text{/}M} \\{u_{2}\text{/}m_{1}}\end{bmatrix} = {\begin{bmatrix}{l\left( {\gamma^{\prime} - \gamma} \right)} \\{{- \left( {1 + p} \right)}{b\left( {\gamma^{\prime} - \gamma} \right)}}\end{bmatrix}g}}}}} & {{Formula}\mspace{14mu} 2} \\{{\alpha_{f} = {{\frac{1}{d_{f}}\frac{\partial e_{f}}{\partial\alpha_{f}}\left( {{\overset{.}{\theta}}_{f}^{+ 2} + {\frac{4g}{l}\sin \; \frac{\alpha_{f}}{2}\sin \; \gamma} + \frac{2\tau_{1k}\alpha_{l}}{l^{2}}} \right)} + {e_{f}\frac{g}{2{ld}_{f}}\left( {{\sin \; \frac{\alpha_{f}}{2}\cos \; \gamma} + {\cos \; \frac{\alpha_{f}}{2}\sin \; \gamma}} \right)} + {e_{f}\frac{\tau_{1f}}{2l^{2}d_{f}}}}}\mspace{79mu} {Where}\mspace{79mu} {d_{f} = \sqrt{{\overset{.}{\theta}}_{f}^{+ 2} + {\frac{4g}{l}\sin \; \frac{\alpha_{f}}{2}\sin \; \gamma} + \frac{2\tau_{1k}\alpha_{f}}{l^{2}}}}\mspace{79mu} {e_{f} = {\cos \; \alpha_{f}}}} & {{Formula}\mspace{14mu} 3} \\{\mspace{79mu} {b_{f} = {{e_{f}\frac{g}{2{ld}_{f}}\left( {{{- \sin}\; \frac{\alpha_{f}}{2}\cos \; \gamma} + {\cos \; \frac{\alpha_{f}}{2}\sin \; \gamma}} \right)} + {e_{f}\frac{\tau_{1f}}{2l^{2}d_{f}}}}}} & {{Formula}\mspace{14mu} 4} \\{\mspace{79mu} {c_{f} = {e_{f}\frac{{\overset{.}{\theta}}_{f}^{+}}{d_{f}}}}} & {{Formula}\mspace{14mu} 5} \\{\mspace{79mu} {{\frac{\partial\alpha_{k + 1}}{\partial\alpha_{k}}_{f}} = {- \frac{b_{f}c_{f}}{b_{f} + {a_{f}c_{f}}}}}} & {{Formula}\mspace{14mu} 6} \\{\mspace{79mu} {{\frac{\partial\alpha_{k + 1}}{\partial{\overset{.}{\theta}}_{k}^{+}}_{f}} = {- \frac{c_{f}^{2}}{b_{f} + {a_{f}c_{f}}}}}} & {{Formula}\mspace{14mu} 7}\end{matrix}$τ_(2k) =K _(α)(α_(k)−α_(f))+K _(θ)({dot over (θ)}_(k) ⁺−{dot over(θ)}_(f+))+τ_(2f)  Formula 8

The meanings of the symbols in the above formulae and the drawings areas follows.

g: acceleration of gravityγ: slope angleu₁: ankle torque, u₂: hip torque, u₃: knee torqueτ_(K): joint torque vector of fixed pointτ_(C): joint torque vector of fixed point when locked at knee of swingleg extends straight τ_(K) and τ_(C) can be expressed as follows.

τ_(K)=[τ_(1f), τ_(2f), τ_(3f) ]=[u ₁ /M, u ₂ /m ₁ , u ₃ /m ₂]

τ_(C)=[τ_(1f), τ_(2f) ]=[u ₁ /M, u ₂ /m ₁]

α_(f): the inter-leg angle at the time of grounding at fixed pointe_(f)=cos α_(f): loss factor at the time of grounding

where e_(f) ² denotes the energy survival rate when the legged mobilebody collides with a floor surface.

γ′: control coefficient during fixed point generationK_(α): control coefficient for stabilizing fixed pointK_((dθ/dt)): control coefficient for stabilizing fixed pointd/dt: time differential (a symbol formed by attaching a dot to “θ” alsodenotes the same time differential)δ: partial differentialSuperscript suffix “+”: the value of a variable to which the suffix “+”is added immediately after groundingSuperscript suffix “−”: the value of a variable to which the suffix “−”is added immediately before groundingSubscript suffix “f”: the value of a variable to which the suffix “f” isadded at the fixed pointSubscript suffix “k”: the value of a variable to which the suffix “k” isadded at step “k” of walkingSubscript suffix “k+1”: the value at step “k+1”

Further, “k” on the abscissa in FIG. 2 denotes step “k” of walking, andαk on the ordinate denotes the inter-leg angle at the time of groundingat step “k”.

The term “fixed point” in this specification is defined as follows. Acertain space (not only a physical space, but also a mathematicaln-dimensional space) is assumed. A case in which an arbitrary plane(strictly mathematically speaking, an (n−1)-dimensional space) definedwithin the space has an intersection point with a trajectory realizedwithin the space is assumed. When the plane and a closed cyclictrajectory have an intersection point, the intersection point is knownas the “fixed point”. When a state away from the fixed point convergeson the fixed point, the fixed point corresponds to “stable”, and whenthe fixed point is stable, the trajectory is mathematically proven to be“stable”. Further, a trajectory having a stable fixed point is known asa stable limit cycle. The expressions “trajectory”, “fixed point”, and“stable” used above are typical mathematical expressions, and the basicconcepts behind these expressions as used in this specification areidentical to the concepts thereof when used mathematically.

In this specification, the “fixed point” is defined in relation to atrajectory drawn by a arbitrary point fixed on a leg of a legged mobilebody during walking. The arbitrary point is referred to hereafter as areference point. The claimed fixed point stabilization device serves tostabilize the fixed point. The space for defining the reference pointmay be a space employing a so-called generalized coordinate system. Thegeneralized coordinates may be the relative position of the referencepoint to the waist of the legged mobile body within a three-dimensionalphysical space, for example. Alternatively, the joint angle of the kneejoint of the leg, the joint angular velocity, and so on may be used. Inother words, the coordinate value at a point on the trajectory denotesthe quantity of state of the leg reference point. The features of thelegged mobile body according to this embodiment may be expressed asfollows. A legged mobile robot comprises a fixed point generator forgenerating a fixed point defined in relation to a closed cyclictrajectory of a reference point fixed on a leg, and a fixed pointstabilizer for stabilizing the fixed point, wherein the fixed pointstabilizing portion stabilizes the fixed point in accordance with agrounding position of the legged mobile body.

An embodiment of the present invention was described in detail above,but this is merely an example of the present invention, and does notlimit the claims. The techniques described in the claims include variousalterations and modifications of the embodiment described above as anexample.

The technical elements described in the specification and drawingsexhibit technical usefulness either independently or in variouscombinations, and are not limited to the combinations described in theclaims at the time of filing. Further, the techniques cited in thespecification and drawings achieve a plurality of objectssimultaneously, and technical usefulness is attained simply by achievingone of these objects.

INDUSTRIAL APPLICABILITY

Legged mobile robots may be used on construction sites, in medical andnursing facilities, in general households, and so on. However, with aconventional control method that does not employ the present invention,energy efficiency is low, leading to great limits on long-term use. Byemploying the present invention, usage time is extended dramatically.

The present invention is capable of generating an extremely natural andstable gait and maintaining a high level of robustness. Hence, thepresent invention is highly likely to be of use in future robots thatwill serve as the key to the industrialization of coexistence with humanbeings.

1. A fixed point stabilization device for a legged mobile body having agenerating mechanism that generates a fixed point comprising:stabilizing means for stabilizing the fixed point generated by thegenerating mechanism in accordance with a leg grounding position of thelegged mobile body.
 2. The fixed point stabilization device for a leggedmobile body according to claim 1, wherein the generating mechanismgenerates the fixed point from an energy balance in the legged mobilebody, leg switching, and a leg swinging motion.
 3. The fixed pointstabilization device for a legged mobile body according to claim 1 or 2,wherein the generating mechanism generates the fixed point by inputtinga constant torque to a joint of a leg of the legged mobile body.
 4. Thefixed point stabilization device for a legged mobile body according toclaim 1, wherein the stabilizing means stabilizes the fixed pointglobally by keeping the leg grounding position of the legged mobile bodyconstant or substantially constant.
 5. The fixed point stabilizationdevice for a legged mobile body according to claim 1 or claim 4, whereinthe stabilizing means is a stopper.
 6. The fixed point stabilizationdevice for a legged mobile body according to claim 1, wherein thestabilizing means stabilizes the fixed point locally by varying the leggrounding position of the legged mobile body in accordance with adeviation between the fixed point and a current quantity of state.
 7. Afixed point stabilization device for a legged mobile body, comprising:detecting means for detecting at least a discrete quantity of state of aleg of the legged mobile body; means for calculating at least adeviation between the fixed point and a current quantity of state; meansfor generating a torque for varying a leg grounding position of thelegged mobile body and a constant torque on a joint of the leg; andmeans for keeping the leg grounding position of the legged mobile bodyconstant or substantially constant.